Research on Three-Dimensional Path Planning for Autonomous Underwater Vehicles Based on Multi-Objective Decision

The global path planning is one of key technologies of autonomous underwater vehicle's intelligent control. For the problems as low efficiency of searching optimal solution and insufficient objectives decision in path planning in three-dimensional environment, the rule of resistance and velocity is obtained first, then a new hybrid based on genetic-ant algorithm is proposed. In the new algorithm, a new fusion strategy is put forward to improve the fusion efficiency and a comprehensive evaluation function is designed according to principles of energy, time and security. Furthermore, a method to determine the optimal path is presented by selecting the optimal paths corresponding to different velocity values. The simulation results in three-dimensional environment show that the new algorithm can converge to the optimal solution in a short time and the method to find the optimal path is feasible.